Vehicle sensor data processing method and system
View Patent ↗A vehicle sensor data processing method implemented by a vehicle sensor data processing system includes: the vehicle sensor data processing system processes and fuses, by using a plurality of levels of control units, a signal sensed by a sensor, and a higher-level control unit makes a control decision based on received data of a plurality of types or a plurality of processing levels. In addition, a priority of a sensor may be further configured based on a vehicle function that needs to be implemented by the system, thereby implementing more stable and reliable vehicle control and ensuring safe driving while satisfying a delay requirement.
1 . A vehicle sensor data processing system, wherein the system comprises a plurality of sensors and a plurality of electric controllers with different levels, the plurality of electric controllers comprise one first electric controller and at least one second electric controller, and the first electric controller is an upper-level electric controller of the at least one second electric controller;
the at least one second electric controller is configured to receive first data, and output second data to the first electric controller,
wherein the first data is from a sensor connected to the at least one second electric controller or is from a third electric controller of the plurality of electric controllers, and the third electric controller is a lower-level electric controller of the at least one second electric controller, wherein the sensor is among the plurality of sensors,
wherein different data processing modes are correspondingly configured for different sensors individually among the plurality of sensors, and the at least one second electric controller is configured to determine, based on a data processing mode of a corresponding sensor, whether to process data from the corresponding sensor;
wherein the at least one second electric controller is further configured to determine a priority of the sensor based on a delay requirement of the sensor and a first threshold,
wherein based on the delay requirement of the sensor being greater than or equal to the first threshold, the at least one second electric controller is configured to determine that the sensor is with a first priority, and
wherein based on the delay requirement of the sensor being less than or equal to the first threshold, the at least one second electric controller is configured to determine that the sensor is with a second priority; and
the first electric controller is configured to output real-time first control information to a device based on the second data output from the at least one second electric controller, and the first control information is used to control the device.
2 . The system according to claim 1 , wherein
the at least one second electric controller is further configured to process the first data based on a data processing mode being set to a multi-level processing mode, wherein the second data is data obtained by processing the first data.
3 . The system according to claim 1 , wherein
the at least one second electric controller is configured to output the second data based on the sensor that sends the first data being a sensor with the first priority.
4 . The system according to claim 3 , wherein
the at least one second electric controller is configured to determine a priority of the sensor based on configuration information of the sensor, wherein the configuration information of the sensor indicates the priority of the sensor.
5 . The system according to claim 1 , wherein the first electric controller is configured to output the first control information to the device based on the second data from the at least one second electric controller and data from one or more first sensors, and a first sensor is a sensor connected to the first electric controller.
6 . The system according to claim 1 , wherein the third electric controller is configured to receive data from a fourth electric controller or data from a second sensor, the second sensor is connected to the third electric controller, and the fourth electric controller is a lower-level electric controller of the third electric controller.
7 . The system according to claim 1 , wherein
the at least one second electric controller is configured to forward the first data based on a data processing mode being set to a non-multi-level processing mode, wherein the second data is the first data.
8 . The system according to claim 1 , wherein
the at least one second electric controller is configured to output second control information to the device based on the sensor that sends the first data being a sensor with the second priority, wherein the second control information is used to control the device.
9 . The system according to claim 1 , wherein the plurality of sensors include image sensors, millimeter-wave radar sensors, and/or laser radar sensors.
10 . A vehicle sensor data processing method comprising:
receiving, by at least one second electric controller of a vehicle sensor data processing system comprising a plurality of sensors, one or more pieces of first data, wherein the one or more pieces of first data are from one or more sensors connected to the at least one second electric controller, wherein the one or more sensors are among the plurality of sensors, or the one or more pieces of first data are from a third electric controller of the vehicle sensor data processing system, and the third electric controller is a lower-level electric controller of the at least one second electric controller;
outputting, by the at least one second electric controller, second data to a first electric controller of the vehicle sensor data processing system, wherein the first electric controller is an upper-level electric controller of the at least one second electric controller;
wherein different data processing modes are correspondingly configured for different sensors individually among the plurality of sensors, and the at least one second electric controller is configured to determine, based on a data processing mode of a corresponding sensor, whether to process data from the corresponding sensor;
wherein the at least one second electric controller is further configured to determine a priority of a sensor based on a delay requirement of the sensor and a first threshold,
wherein based on the delay requirement of the sensor being greater than or equal to the first threshold, the at least one second electric controller is configured to determine that the sensor is with a first priority, and
wherein based on the delay requirement of the sensor being less than or equal to the first threshold, the at least one second electric controller is configured to determine that the sensor is with a second priority;
determining, by the first electric controller, real-time first control information based on the second data; and
outputting, by the first electric controller, the first control information to a device.
11 . The method according to claim 10 , wherein the determining, by the first electric controller, the first control information based on the second data comprises:
determining, by the first electric controller, the first control information based on the second data and data from one or more first sensors, wherein
a first sensor is a sensor connected to the first electric controller.
12 . The method according to claim 10 , further comprising:
processing, by the at least one second electric controller, the first data based on a data processing mode being set to a multi-level processing mode, wherein the second data is data obtained by processing the first data.
13 . The method according to claim 10 , further comprising:
forwarding, by the second electric controller, the first data based on a data processing mode being set to a non-multi-level processing mode, wherein the second data is the first data.
14 . A vehicle comprising a vehicle sensor data processing system, wherein the system comprises a plurality of sensors and a plurality of levels of electric controllers, the plurality of levels of electric controllers comprise one first electric controller and at least one second electric controller, and the first electric controller is an upper-level electric controller of the at least one second electric controller;
the at least one second electric controller is configured to receive first data, and output second data to the first electric controller, the first data is from a sensor connected to the at least one second electric controller or is from a third electric controller, and the third electric controller is a lower-level electric controller of the at least one second electric controller, wherein the sensor is among the plurality of sensors; and
wherein different data processing modes are correspondingly configured for different sensors individually among the plurality of sensors, and the at least one second electric controller is configured to determine, based on a data processing mode of a corresponding sensor, whether to process data from the corresponding sensor;
wherein the at least one second electric controller is further configured to determine a priority of the sensor based on a delay requirement of the sensor and a first threshold,
wherein based on the delay requirement of the sensor being greater than or equal to the first threshold, the at least one second electric controller is configured to determine that the sensor is with a first priority, and
wherein based on the delay requirement of the sensor being less than or equal to the first threshold, the at least one second electric controller is configured to determine that the sensor is with a second priority
the first electric controller is configured to output real-time first control information to a device based on the second data output from the at least one second electric controller, and the first control information is used to control the device.
15 . The vehicle according to claim 14 , wherein
the at least one second electric controller is configured to process the first data based on a data processing mode being set to a multi-level processing mode, wherein the second data is data obtained by processing the first data.
16 . The vehicle according to claim 14 , wherein
the at least one second electric controller is configured to output the second data based on the sensor that sends the first data being a sensor with the first priority; or
the at least one second electric controller is configured to output second control information to the device based on the sensor that sends the first data being a sensor with the second priority, wherein the second control information is used to control the device.
17 . The vehicle according to claim 16 , wherein
the at least one second electric controller is configured to determine a priority of the sensor based on configuration information of the sensor, wherein the configuration information of the sensor indicates the priority of the sensor.
18 . The vehicle according to claim 14 , wherein the first electric controller is configured to output the first control information to the device based on the second data from the at least one second electric controller and data from one or more first sensors, and a first sensor is a sensor connected to the first electric controller.
19 . The vehicle according to claim 14 , wherein the third electric controller is configured to receive data from a fourth electric controller or data from a second sensor, the second sensor is connected to the third electric controller, and the fourth electric controller is a lower-level electric controller of the third electric controller.
20 . The vehicle according to claim 14 , wherein
the at least one second electric controller is configured to forward the first data based on a data processing mode being set to a non-multi-level processing mode, wherein the second data is the first data.